Revision 0:62dfce144cf7, committed 2013-02-21

Comitter:

bclaus

Date:

Thu Feb 21 00:21:23 2013 +0000

Child:

1:53d0deb65d1b

Commit message:

Set of code to work with L3GD20 on pololu's minimu-9 v2;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L3GD20.cpp	Thu Feb 21 00:21:23 2013 +0000
@@ -0,0 +1,107 @@
+/**
+ * Copyright (c) 2011 Pololu Corporation.  For more information, see
+ * 
+ * http://www.pololu.com/
+ * http://forum.pololu.com/
+ * 
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ * 
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+ 
+ #include "mbed.h"
+ #include "L3GD20.h"
+
+
+// Defines ////////////////////////////////////////////////////////////////
+
+// The Arduino two-wire interface uses a 7-bit number for the address, 
+// and sets the last bit correctly based on reads and writes
+// mbed I2C libraries take the 7-bit address shifted left 1 bit
+// #define GYR_ADDRESS (0xD2 >> 1)
+#define GYR_ADDRESS 0xD6
+
+
+// Public Methods //////////////////////////////////////////////////////////////
+
+// Constructor
+L3GD20::L3GD20(PinName sda, PinName scl):
+    _L3GD20(sda, scl)
+{
+    char reg_v;
+    _L3GD20.frequency(100000);
+    
+  // 0x0F = 0b00001111
+  // Normal power mode, all axes enabled
+    reg_v = 0;    
+    reg_v |= 0x0F;       
+    write_reg(GYR_ADDRESS,L3GD20_CTRL_REG1,reg_v);
+    
+
+
+}
+
+
+
+bool L3GD20::read(float *gx, float *gy, float *gz) {
+    char gyr[6];
+ 
+    if (recv(GYR_ADDRESS, L3GD20_OUT_X_L, gyr, 6)) {
+    //scale is 8.75 mdps/digit
+        *gx = float(short(gyr[1] << 8 | gyr[0]))*0.00875;  
+        *gy =  float(short(gyr[3] << 8 | gyr[2]))*0.00875;
+        *gz =  float(short(gyr[5] << 8 | gyr[4]))*0.00875;
+
+ 
+        return true;
+    }
+ 
+    return false;
+}
+
+
+
+
+bool L3GD20::write_reg(int addr_i2c,int addr_reg, char v)
+{
+    char data[2] = {addr_reg, v}; 
+    return L3GD20::_L3GD20.write(addr_i2c, data, 2) == 0;
+}
+
+bool L3GD20::read_reg(int addr_i2c,int addr_reg, char *v)
+{
+    char data = addr_reg; 
+    bool result = false;
+    
+    __disable_irq();
+    if ((_L3GD20.write(addr_i2c, &data, 1) == 0) && (_L3GD20.read(addr_i2c, &data, 1) == 0)){
+        *v = data;
+        result = true;
+    }
+    __enable_irq();
+    return result;
+}
+
+
+bool L3GD20::recv(char sad, char sub, char *buf, int length) {
+    if (length > 1) sub |= 0x80;
+ 
+    return _L3GD20.write(sad, &sub, 1, true) == 0 && _L3GD20.read(sad, buf, length) == 0;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L3GD20.h	Thu Feb 21 00:21:23 2013 +0000
@@ -0,0 +1,103 @@
+/* Copyright (c) 2011 Pololu Corporation.  For more information, see
+ * 
+ * http://www.pololu.com/
+ * http://forum.pololu.com/
+ * 
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ * 
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef __L3GD20_H
+#define __L3GD20_H
+
+#include "mbed.h"
+
+// register addresses
+
+#define L3GD20_WHO_AM_I      0x0F
+
+#define L3GD20_CTRL_REG1     0x20
+#define L3GD20_CTRL_REG2     0x21
+#define L3GD20_CTRL_REG3     0x22
+#define L3GD20_CTRL_REG4     0x23
+#define L3GD20_CTRL_REG5     0x24
+#define L3GD20_REFERENCE     0x25
+#define L3GD20_OUT_TEMP      0x26
+#define L3GD20_STATUS_REG    0x27
+
+#define L3GD20_OUT_X_L       0x28
+#define L3GD20_OUT_X_H       0x29
+#define L3GD20_OUT_Y_L       0x2A
+#define L3GD20_OUT_Y_H       0x2B
+#define L3GD20_OUT_Z_L       0x2C
+#define L3GD20_OUT_Z_H       0x2D
+
+#define L3GD20_FIFO_CTRL_REG 0x2E
+#define L3GD20_FIFO_SRC_REG  0x2F
+
+#define L3GD20_INT1_CFG      0x30
+#define L3GD20_INT1_SRC      0x31
+#define L3GD20_INT1_THS_XH   0x32
+#define L3GD20_INT1_THS_XL   0x33
+#define L3GD20_INT1_THS_YH   0x34
+#define L3GD20_INT1_THS_YL   0x35
+#define L3GD20_INT1_THS_ZH   0x36
+#define L3GD20_INT1_THS_ZL   0x37
+#define L3GD20_INT1_DURATION 0x38
+
+/** Interface library for the ST L3GD20 3-axis gyro
+ *
+ * Ported from Pololu L3GD20 library for Arduino by
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "L3GD20.h"
+ * L3GD20 gyro(p28, p27);
+ * ...
+ * int g[3];
+ * gyro.read(g);
+ * @endcode
+ */
+class L3GD20
+{
+    public:
+        /** Create a new L3GD20 I2C interface
+         * @param sda is the pin for the I2C SDA line
+         * @param scl is the pin for the I2C SCL line
+         */
+        L3GD20(PinName sda, PinName scl);
+        
+        /** Read gyro values
+         * @param g Array containing x, y, and z gyro values
+         * @return g Array containing x, y, and z gyro values
+         */
+        bool read(float *gx, float *gy, float *gz);
+        
+    private:
+            I2C _L3GD20;
+        float gx, gy, gz;
+
+        bool write_reg(int addr_i2c,int addr_reg, char v);
+        bool read_reg(int addr_i2c,int addr_reg, char *v);
+        bool recv(char sad, char sub, char *buf, int length);
+};
+
+#endif
\ No newline at end of file